Electronic control air suspension vehicle body height adjusting method based on model predictive control

Abstract

The invention discloses an electric control air suspension vehicle body height adjusting method based on model predictive control. The method comprises the following steps: establishing and linearizing a nonlinear vehicle height adjusting model of a quarter of an electric control air suspension to serve as a prediction model; observing the model linearization error and the road surface interference by using an extended state observer and feeding back to the prediction model; according to the target vehicle body height, the actual vehicle body height and the prediction model, calculating the required air mass flow through model prediction control and then converting into opening and closing signals of an electromagnetic valve through PWM control; designing an adaptive event triggering mechanism, and judging whether optimization calculation of model prediction control is carried out or not at each sampling moment according to an adaptive threshold and a triggering condition. Aiming at the characteristics of strong non-linearity, susceptibility to road surface interference and large calculation amount of a control algorithm, the invention provides the electric control air suspension vehicle body height adjusting method based on model predictive control, so that the speed, precision and robustness of vehicle body height adjustment are improved.

Description

technical field [0001] The invention belongs to the field of electronically controlled air suspension, in particular to an electronically controlled air suspension body height adjustment method based on model predictive control. Background technique [0002] As air suspension is gradually widely used in luxury passenger cars and heavy trucks, and it is also developed from passive air suspension to electronically controlled air suspension, the passability and fuel economy of vehicles under different working conditions have been significantly improved. The specific performance is that under the development of electronic control technology, the height of the air spring can be increased or decreased by inflating and deflating the inside of the air spring, so that the height of the vehicle body can be adjusted. Under high-speed working conditions, by releasing the air inside the air spring to reduce the height of the vehicle body, the driving stability can be improved, the probab...

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